def setup_algorithm(self):
"""Override this"""
print '(setup_algorithm) Implement me!'
from costmap import Costmap2D
from obstacle import Obstacle
from costmapwidget import Costmap2DWidget
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(5, 9, 3, 3).draw(self.costmap)
Obstacle(4, 16, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap, parent=self)
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_start=False,
show_colorbar=self.colorbar)
self.pf = PotentialField(self.costmap)
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=self.colorbar)
self.costmap_widget.canvas.show_start = False
self.costmap_widget.canvas.show_goal = False
self.vo = VoronoiExpansion(self.costmap)
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=self.colorbar)
self.costmap_widget.canvas.show_start = True
self.costmap_widget.canvas.show_goal = False
self.be = BrushfireExpansion(self.costmap)
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.be.set_ignition_cells([self.start_coord])
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=True)
self.costmap_widget.canvas.show_start = True
self.costmap_widget.canvas.show_goal = True
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
temp = self.costmap_widget.canvas.goal_coord
self.goal_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.a_star = AStar(self.costmap, self.start_coord, self.goal_coord,
self.heuristic)
if came_from[current_node]:
p = reconstruct_path(came_from, came_from[current_node])
p.append(current_node)
return p
else:
return [current_node]
if __name__ == '__main__':
from costmap import Costmap2D
from obstacle import Obstacle
from matplotlib.pyplot import plot, show
from matplotlib.pylab import imshow, show, figure
import time
c = Costmap2D(10, 20, resolution=0.5)
c.goal = (0, 0)
c.start = (c.width - 1, c.height - 1)
Obstacle(4, 3, 3, 3).draw(c)
Obstacle(5, 9, 3, 3).draw(c)
Obstacle(4, 16, 3, 3).draw(c)
a_star = AStar(c, c.start, c.goal, naive)
start = time.time()
a_star.solve()
end = time.time()
print 'Naive:', end - start
imshow(a_star.field.data, interpolation='nearest')
while be.step_solution():
pass
# time.sleep(0.1)
def _run_voronoi_expansion(c):
"""Runs the voronoi expansion"""
import time; time.sleep(3)
from voronoi import VoronoiExpansion
ve = VoronoiExpansion(c)
while ve.step_solution():
pass
# time.sleep(0.1)
if __name__ == '__main__':
try:
c = Costmap2D(10,20,resolution=1.0)
Obstacle(3,3,3,3).draw(c)
Obstacle(5,9,3,3).draw(c)
Obstacle(4,16,3,3).draw(c)
app = QtGui.QApplication(sys.argv)
cw = Costmap2DWidget(c)
import threading
threading.Thread(target=_run_brushfire, args=(c,)).start()
# threading.Thread(target=_run_voronoi_expansion, args=(c,)).start()
cw.show()
sys.exit(app.exec_())
except SystemExit:
pass